#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <errno.h>
#include <string.h>
#include <vector>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include "opencv2/opencv.hpp"

#include "aos/common/time.h"
#include "aos/atom_code/camera/Buffers.h"
#include "aos/externals/libjpeg/include/jpeglib.h"
#include "aos/atom_code/init.h"
#include "aos/common/logging/logging.h"

#include "vision/OpenCVWorkTask.h"
#include "vision/CameraProcessor.h"
#include "vision/BinaryServer.h"
#include "vision/PacketNotifier.h"
#include "vision/JPEGRoutines.h"


namespace frc971 {
namespace vision {

}  // namespace vision
}  // namespace frc971

void reciever_main(frc971::vision::PacketNotifier *notify){
  frc971::vision::BinaryServer test(8020,notify);
}

namespace {
void SaveImageToFile(IplImage *image, const char *filename) {
  FILE *file = fopen(filename, "w");

  fputs("P3\n320 240\n255\n", file);
  ::cv::Mat img(image);
  for (int i = 0; i < img.rows; i++) {
    for (int j = 0; j < img.cols; j++) {
      // You can now access the pixel value with cv::Vec3b
      fprintf(file, "%d %d %d ",
          img.at<cv::Vec3b>(i,j)[0],
          img.at<cv::Vec3b>(i,j)[1],
          img.at<cv::Vec3b>(i,j)[2]);

    }
    fputs("\n", file);
  }
  fclose(file);
}
}

#include "frc971/queues/CameraTarget.q.h"
using frc971::vision::targets;

#include <iostream>
void sender_main(frc971::vision::PacketNotifier *notify){
  ::aos::InitNRT();
  ::aos::camera::Buffers buffers;
  CvSize size;
  size.width = ::aos::camera::Buffers::Buffers::kWidth;
  size.height = ::aos::camera::Buffers::Buffers::kHeight;

  // create processing object
  ProcessorData processor(size.width, size.height, false);

  printf("started sender main\n");
  LOG(INFO, "Camera server started\n");
  while(true){
    //usleep(7500);
    size_t data_size;
  	timeval timestamp_timeval;
    const void *image = buffers.GetNext(
		    true, &data_size, &timestamp_timeval, NULL);
    ::aos::time::Time timestamp(timestamp_timeval);

    //TODO(pschuh): find proper way to cast away const for this: :(
    // parker you prolly want const_cast<type>(var);
    LOG(INFO, "Got new image\n");
    unsigned char *buffer = (unsigned char *)notify->GetBuffer();
    frc971::vision::process_jpeg(buffer, (unsigned char *)image, data_size);

    // build the headers on top of the buffer
    cvSetData(processor.src_header_image,
              buffer,
              ::aos::camera::Buffers::Buffers::kWidth * 3);

    // Reset.
    processor.clear();
    // transform the buffer into targets
    processor.threshold(buffer);

    processor.getContours();
    processor.filterToTargets();

    // could be used for debug ie drawContours
    //std::vector<std::vector<cv::Point> > target_contours;
    //std::vector<std::vector<cv::Point> > best_contours;
    std::vector<Target>::iterator target_it;
    Target *best_target = NULL;
    // run through the targets
    LOG(INFO, "Found %u targets\n", processor.target_list.size());
    for(target_it = processor.target_list.begin();
        target_it != processor.target_list.end(); target_it++){
      //target_contours.push_back(*(target_it->this_contour));
      // select the highest target
      if (best_target == NULL) {
        best_target = &*target_it;
      } else {
        if (target_it->height < best_target->height) {
          best_target = &*target_it;
        }
      }
    }
    // if we found one then send it on
    if (best_target != NULL) {
      LOG(INFO, "Target is %f\n", best_target->rect.centroid.x);
      targets.MakeWithBuilder()
        .percent_azimuth_off_center(
            best_target->rect.centroid.y / (double)::aos::camera::Buffers::kHeight - 0.5)
        .percent_elevation_off_center(
            best_target->rect.centroid.x / (double)::aos::camera::Buffers::kWidth - 0.5)
        .timestamp(timestamp.ToNSec())
        .Send();
    }
    notify->Notify();
    //static int counter = 0;
    //if (++counter > 2) {
      //break;
    //}
  }
  ::aos::Cleanup();
}


int main(int /*argc*/, char** /*argv*/){
  frc971::vision::PacketNotifier *notify = frc971::vision::PacketNotifier::MMap(
      ::aos::camera::Buffers::kHeight * ::aos::camera::Buffers::kWidth * 3);
  pid_t pid = fork();
  if(pid < 0){
    fprintf(stderr,"%s:%d: Error in fork()\n",__FILE__,__LINE__);
  }
  if(pid == 0){
    notify->RegisterSender();
    sender_main(notify);
  }else{
    notify->RegisterReciever();
    reciever_main(notify);
  }
}